Technical Articles

Galil Motion Control

This paper is an abstract for the "Backlash Compensation Methods" on-line tutorial. The complete tutorial with audio can be viewed at: http://www.galilmc.com/training/webconf.html
This course...
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This paper is an abstract for the "Flexible-Distributed Control Systems" on-line tutorial. The complete tutorial with audio can be viewed at http://www.galilmc.com/training/webconf.html This course...
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This note discusses the use of a host program to manage the execution of contour mode. The term host program refers to a program that is executed on the host computer interacts with the controller....
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Since motion control systems are designed to force the motor to follow the commanded position, any deviation between the commanded and actual positions is considered a position error. With that in...
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Tuning the controller seems to be a difficult task to some users; however, after getting familiar with the theories and tricks behind it, one might find the tuning procedure simple and fun. This...
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Microstepping is a method for controlling stepper motors. It offers improved performance by providing finer position steps, reduced vibration, and smoother motion. However, microstepping has...
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This paper is an abstract for the "Optimal Design of Motion Control Systems" on-line tutorial. The complete tutorial with audio can be viewed at http://www.galilmc.com/training/webconf.html
The...
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This paper is an abstract for the "Control of Piezo Ceramic and Ultrasonic Actuators" on-line tutorial. The complete tutorial with audio can be viewed at http://www.galilmc.com/training/webconf.html...
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Today's machine designer is in the fortunate position of having a wide range of motion control options to select from. However, choosing the best controller for a specific application is often...
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Every system designer knows that a control system has to be tuned. Tuning, also known as compensation, is the process where the filter parameters, (typically PID) are selected to give the best...
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This application note explains why TCP/IP over Ethernet is often the best choice for multi-axis motion control. Appendix A details the differences between three popular serial protocols; TCP/IP, a...
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This paper is an abstract for the "Tuning Servo Systems" on-line tutorial. The complete tutorial with audio can be viewed at http://www.galilmc.com/training/webconf.html This course presents some...
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Traditionally, power amplifiers for servo motors have been designed with continuous components. Such amplifiers, also known as drivers, achieve fast response and excellent performance. In recent...
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The issue of coordinate transformation is unavoidable in the field of motion control. This is because often the force applied to a payload is oriented differently than the desired direction of...
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It may be desirable to increase the total number of array elements in the controller's memory. The following method takes advantage of the fact that, often times, the data elements to be stored in...
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High-speed, air bearing brushless motors can be difficult to initialize, due to the
lack of friction to damp out The Brushless Setup (BS) and Brushless Zero(BZ)
commands. This Application note...
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This application note introduces Galil's sinusoidally commutating amplifiers, and compares the technology to trapezoidally commutating amplifiers. The goal is to assist design engineers in deciding...
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The RIO Pocket PLC is a versatile device that can be used to control a variety of
processes, perform multi-threaded operation, or simply extend the I/O capabilities of a
machine. In this application...
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Programming the Galil controller from a high level language such as C or C++ can be overwhelming at first glance, but upon closer inspection - it is actually very straightforward. This article shows...
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There have been many methods developed over the years for tuning the loop constants of a servo axis, ranging from various auto-tuning methods to step-by-step manual tuning. All of these methods offer...
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For high efficiency, switching amplifiers such as the AMP-43040, AMP-20540, and
AMP-19540, motor phase to phase inductance is an important characteristic when
considering the heat dissipation and...
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When using a pulse type switch with the HM command, the motor will always begin motion in the same direction, irrespective of the position of the motor. One method forusing a pulse type or momentary...
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This application note introduces Galil's sinusoidally commutating amplifiers, and compares the technology to trapezoidally commutating amplifiers. The goal is to assist design engineers in deciding...
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Galil's ECAM mode replaces mechanical cams by establishing a nonlinear relationship
between two axis positions (a master and a slave). Master positions must be evenly
spaced according to the EP...
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Yaskawa's Junma Motor and Drive combination can be connected to any Galil motion controller in order to get precise multi-axis position control. The Junma series has multiple options for sizing a...
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The RIO Pocket PLC is a versatile device that can be used to control a variety of
processes, perform multi-threaded operation, or simply extend the I/O capabilities of a
machine. In this application...
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Many Systems Engineers find it desirable to switch from a PCI Motion Controller to a stand-alone Ethernet solution. Reasons for doing this can be any of the following: 1. Economics- Eliminating the PC...
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Linear interpolation and circular interpolation applications may call for a slow down around corners with a small radius or discontinuities in the vector path. There are two methods to achieve this...
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For most applications, the standard GalilTools communication libray or API (Application Programming Interface) provides the best method of communicating from either a Windows or Linux computer to a...
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There are two methods for producing spiral motion with a Galil controller. The first method, demonstrated in the example program below, utilizes gearing and the CR command. Notice that the X and Y are...
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The design of an Ethernet-based control system requires the engineer to choose how the data will transfer between devices. Standard Ethernet controllers, third-party IO, host PCs, and virtual...
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A primary advantage of electronically programming a Cam application-as opposed to designing a mechanical Cam-is the flexibility and ease of changing the path and travel of the Cam cycle. Galil's ECAM...
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The IOC-7007 offers the capability of extending a controller's digital and analog I/O capability without adding complexity to the system. Once an IOC is added, any Galil ethernet controller can access...
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In the search for the ideal distributed motion control system, the Ethernet seems to offer a very good choice. First, it offers the basic benefits of any distributed system-namely, reduced wiring...
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This paper is an abstract for the "Flexible-Distributed Control Systems" on-line tutorial. This course considers various structures of a control system and discusses their relative merits....
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There's no doubt the latest racing games for X-Box 360 and PlayStation can provide a fun, relatively "realistic" experience, but for those dreaming of what it actually feels like to be a jet pilot or...
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Focused radiation continues to be an effective means for treating cancerous tumors, particularly when there is a clear-cut shot at the target. Getting a clear-cut shot is no simple task, especially...
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This application note will discuss the special SSI firmware created by Galil for interfacing to SSI encoders. Galil has created two distinct versions of the SSI firmware, and this note will cover the...
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Normal operation of the controller has a slave axis instantaneously gearing to the master upon execution of the GRn command. This can be undesirable in certain situations, such as the case when the...
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It is possible to create a helical motion profile using any 3-axis (or more) controller. To accomplish this, command a coordinated circular move between 2 axes and gearing a third axis to the vector...
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This application note describes techniques to generate cam tables with any master period (modulus). For example, one cam table may be a sine wave that repeats every 1000 counts of the master, and a...
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Programming the Galil controller from a high level language such as C or C++ can be overwhelming at first glance, but upon closer inspection - it is actually very straightforward. This article shows...
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Absolute encoders provide parallel absolute position information in a binary
format. Some absolute encoders use a special binary code known as gray code.
The main characteristic of gray code is that...
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Many industries today, such as biotechnology and semiconductor, are introducing machines that require an ever increasing amount of accuracy and performance. Many of these applications are being...
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There are cases where step motors fail at some frequencies. The main causes are
resonance and insufficient voltage. Both of these effects will manifest themselves as a
loss of position that will go...
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This Application note details three common methods of homing. The three methods discussed are:
1. Home to a dedicated Home switch (rotary axis)
2. Home to a forward or reverse limit switch (linear...
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For high efficiency, switching amplifiers such as the AMP-43040, AMP-20540, and
AMP-19540, motor phase to phase inductance is an important characteristic when
considering the heat dissipation and...
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For high efficiency, switching amplifiers such as the AMP-43040, AMP-20540, and AMP-19540, motor phase to phase inductance is an important characteristic when considering the heat dissipation and...
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The following note details a method for collecting and recording an infinite amount of array data. The array memory space of the controller is limited to 8000 elements for Optima and Legacy Series,...
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Galil has introduced a new version of its RIO smart I/O controller which provides higher range and resolution of the analog inputs and outputs. The new RIO-47120 provides 8 analog inputs and 8 analog...
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The ability to track product as it moves through an autonomous system is often critical to the overall success of the system. Generally the tracking of the product is performed with a simple bar code...
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Modbus TCP/IP is an industry standard communication protocol that allows different modules to communicate in a master/slave configuration to send data and control machine operation. On some occasions,...
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In the following examples, a joystick controls the motor. The joystick is a device that produces a voltage in the range between -10V and +10V. The controller monitors this voltage via the analog...
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The automatic subroutines, LIMSWI, POSERR and ININT must be properly terminated to be re-enabled. LIMSWI and POSERR must be ended with the command RE, or a ZS command must be given. The subroutine...
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There have been many methods developed over the years for tuning the loop constants of a servo axis, ranging from various auto-tuning methods to step-by-step manual tuning. All of these methods offer...
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There have been many methods developed over the years for tuning the loop constants of a servo axis, ranging from various auto-tuning methods to step-by-step manual tuning. All of these methods offer...
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Mechanical systems are often engineered in such a way that motors and actuators are not aligned in a Cartesian configuration. However, the machine will need to follow motion paths and positions based...
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In many high-tech applications it becomes necessary to have controlled motion with micrometer precision. A Galil motion controller with a ceramic motor is a great way to achieve this goal. This...
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The "Microstepping" on-line tutorial reviews the operation of step motors in the microstepping mode and discusses the advantages and position error considerations. The complete tutorial with audio can...
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Galil controllers operate step motors as part of an open-loop system. However, encoder inputs and application memory are provided which allow position maintenance for step motors. An encoder is placed...
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When dealing with high precision, high resolution applications where positioning down to sub-micron resolution is critical - a ceramic stage coupled to a Galil controller is an excellent motion...
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There are some applications in which the standard tuning procedure using the PID filter of the controller cannot completely eliminate the resonance in a system. Resonance occurs when the natural...
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Many applications require an axis to precisely follow a randomly generated position target. Some examples of applications that may use this mode are satellite tracking, missile tracking, random...
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All Galil Optima-series and Econo/E-series motion controllers contain a dedicated input function called the Latch input. The Latch function is an edge-based hardware trigger. Upon perceiving a state...
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The ECAM mode of motion mimics the behavior of a mechanical cam by driving a slave axis, along a predetermined profile, based on the position of a master axis. ECAM is well suited for applications...
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A majority of amplifiers in the market place today take a control signal from a motion controller that is in the form of +-10VDC or a pulse train and direction bit. However there are some amplifiers...
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The Galil electronic gearing mode allows one or more slave axes to follow a master axis at a prescribed gear ratio. When the standard gearing command is issued, the follower axis instantly gears to...
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In some applications, an S-curve motion profile can help to smooth the motion and reduce the possibility of exciting a vibration or oscillation. The "S-curve" refers to the rounded "S" shape of the...
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A 3-phase brushless motor requires the amplifier to provide electronic commutation. Commutation of a brushless motor means that the amplifier needs to decide which phase of the motor to energize and...
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A 3-phase brushless motor requires the amplifier to provide electronic commutation. Commutation of a brushless motor means that the amplifier needs to decide which phase of the motor to energize and...
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A shunt regulator is an electrical device used in motion control systems to regulate the
voltage level of the DC bus supply to protect the amplifier, motor, and other components
in the system from an...
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This application note includes a complete discussion of brushless motors. Part One is
devoted to an in-depth review of both brush- and brushless motor theory. Part Two
relates brushless commutation...
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Early detection and treatment is one way to try to beat breast cancer, which is why over 50 million women get screened for the disease each year. While necessary and often effective, mammography...
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Andrew NDT and Galil have combined technologies to reduce the million-dollar price tag on a key procedure in the manufacture of wafers for the semiconductor industry. The new approach gives accurate,...
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Throughout history, artists have sculpted magnificent works using exotic materials such as bronze, gold and ivory, and some not too exotic materials such as clay, wax and plaster. Some sculpt using...
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What can one find in something as small as one-billionth of a meter? Apparently, quite a bit, which is why over 2,000 scientists and physicists on average make the trek annually to the National...
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In the highly competitive and exacting world of silicon wafer production, throughput, precision and reliability are paramount.
Semiconductor equipment manufacturers are constantly being squeezed...
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A revolutionary concept by a company called CamSoft Corporation converts screen graphics directly into multi-axis machine tool motion. When joined with a powerful Galil motion controller, the...
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There's no doubt the latest racing games for X-Box 360 and
PlayStation can provide a fun, relatively "realistic" experience,
but for those dreaming of what it
actually feels like to be a jet pilot or...
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There's no question that water sustains life. It also helps shape it. For instance, when water is concentrated into a highpressure stream shot from a waterjet at 60,000 psi, it can cut and shape a...
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A new investigational device developed by Focus Surgery, Inc. uses high-intensity focused ultrasound to destroy cancer in the prostate gland. During treatment, a Galil motion controller moves an...
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There's no question about the appeal, practicality and legacy of wooden fences-including railing and decks. But with rising costs, less availability (due to environmental and logging concerns) and...
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New, sophisticated software simulation is helping train the men and women who operate the big cranes used in construction and on the docks. With crane simulation, they learn to safely operate or...
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A new, automated GP2 system can now produce cost effective hard book covers or cases "on demand." A key to this flexibility is the accuracy of the high precision Galil controller at the heart of the...
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Entertainment set producer Hudson Scenic Studio, Inc is responsible for some of the most spectacular sets on Broadway, and they make it all synchronize flawlessly using Galil motion controllers behind...
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It's no small issue when one's vision becomes radically impaired due to a cataract. While cataracts affect all ages, they are the leading cause of vision loss among adults 55 and up.
When...
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There's no question about the appeal, practicality and legacy of wooden fences-including railing and decks. But with rising costs, less availability (due to environmental and logging concerns) and...
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3D movies have come a long way since the original "golden age" in the Fifties with such notable films as House of Wax and Robot Monster. Today, a new golden age of 3D movies is unfolding with films...
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When clinical lab scientists research and analyze human fluids to develop new drugs, find cures, prescribe treatment or solve crimes, they require samples not compromised by contamination, infection...
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Viewing ultrasound images of a developing child is a sight to behold-even if it is a bit hard to make out.
Now, those fuzzy images have been cleared up and are more revealing than ever due to the...
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A new, user-friendly and safe laser system can now inscribe on the hard surface of a diamond to engrave a certification number or a personal message. Microscopic inscription on these valuable gems is...
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When you admire the frame of a fine painting, slide open a window in your home with ease, or close a kitchen cabinet that fits its frame perfectly, you owe no small amount of your appreciation to a...
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When Riccardo Cardona, a pilot and retired mechanical engineer for General Telecom, met with Leroy Gillaid, one of the original WWII Tuskegee airmen and now 90 years young, it was love at first...
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In PVA spray coating systems, precision is taken very seriously. That's one reason PVA uses Galil motion controllers to perform key roles in all its systems.
Besides precision, flexibility is what...
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They are the guardians of our Nation's borders. They are America's frontline against drug traffickers, terrorists and illegal immigrants. And with violence on the rise and perhaps as many as 850,000...
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While motion simulators are used to train professionals such as jet pilots, truck drivers and high-rise construction crane operators, they can thrill families who ride the Star Tours and Mission Space...
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The sci-fi vision of robotic, unmanned vehicles is more reality than fantasy. There are remote-controlled mini-subs exploring the deep seas, Mars rovers transmitting stunning
images, and pilot-less,...
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Focused radiation is an effective means for treating cancerous tumors, particularly when there is a clear-cut shot at the target. Getting a clear-cut shot is no simple task, especially since the...
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With a Galil controller acting as the "command dispatcher," a new ultrasonic spray technology by USI refines the ability to
spray the thin, uniform coatings so necessary for coating circuit boards.
A...
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How did galaxies form? What is "dark matter"? How old is the universe ? Is the universe expanding and picking up speed? Helping to solve such mysteries of the universe and its origin is one of the...
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An increasing number of modern technologies require more and more sophisticated metrology to measure ever-finer details and tighter tolerances. Veeco's new Wyko® Optical Profilers, directed by a...
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Throughout history, artists have sculpted magnificent works using exotic materials such as bronze, gold and ivory, and some not too exotic materials such as clay, wax and plaster. Some sculpt using...
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Moving a motor from one position to another involves accelerating the motor to a certain velocity, traveling at that velocity for a set time, and then decelerating to a stop to a desired position. The...
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Stepper motors are designed to offer an economical method of open-loop motion control. While easy-to-use, they are prone to skipping or stalling resulting in position loss. This application note...
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This application note describes the CW Galil command. The CW command has three uses: it (1) prints the controller's copyright message, (2) sets or clears the most significant ASCII bit of unsolicited...
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This application note explains why TCP/IP over Ethernet is often the best choice for multi-axis motion control. Appendix A details the differences between three popular serial protocols; TCP/IP, a...
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This note pertains to motion systems with 3 axes of motion, X, Y and ?. X refers to linear motion in the X direction, Y refers to linear motion in the Y direction, and ? is rotational motion. It is...
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There are two commands that are critical in setting up a stepper motor correctly - MT (Motor Type) and KS (Stepper Smoothing). These two commands set up how the controller will output step pulses to...
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This note applies to ECAM motion under the following conditions: 1. The master axis moves at a constant rate.
2. The motion profile of the slave axis is not critical but the end points of slave axis...
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This application note deals with standard ethernet controllers such as the DMC-2100, 2200, 21x2, 21x3, 1415,1416, and 1425. Standard straight-through "patch" cables should connect each controller to a...
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In control applications where the I/O requirement is large - there may not be enough inputs or outputs on a Galil controller to handle the total number of desired I/O points. If that is the case, then...
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